| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To output precise position and posture of a moving body without time delay. <P>SOLUTION: A position and posture output device 10 obtains an odometry at a first interval from a calculation section 3 that calculates the odometry of a moving body. The position and posture output device 10 obtains an estimated result of the position and posture of the moving body from an estimation section 5 that estimates the position and posture of the moving body by using information of the odometry and other than the odometry at a second interval of time longer than the first interval. When the estimated result of the position and posture of the moving body is obtained, the position and posture of the moving body stored in a storage 13 is updated so that the values of the updated position and posture of the moving body are translated to the values between the position and posture based on a difference of the odometry and the estimated result of the position and posture of the moving body. Every time when the odometry is obtained at the first interval, a difference between the odometry and the odometry used in the previous estimation is added to the position and posture of the moving body stored in the storage 13 and the resultant is output. <P>COPYRIGHT: (C)2013,JPO&INPIT</p> |
